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Phase Messaging Method for Time-of-flight Cameras Wenjia Yuan - PowerPoint PPT Presentation

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Phase Messaging Method for Time-of-flight Cameras Wenjia Yuan Richard Howard Kristin Dana Ramesh Raskar Ashwin Ashok Marco Gruteser Narayan Mandayam Rutgers University Massachusetts Institute of Technology

  1. Phase Messaging Method for Time-of-flight Cameras Wenjia Yuan † Richard Howard † Kristin Dana † Ramesh Raskar ‡ Ashwin Ashok † Marco Gruteser † Narayan Mandayam † † Rutgers University ‡ Massachusetts Institute of Technology CNS-1065463

  2. Cameras Displays Camera-Display Communication 5/3/2014 2

  3. Related work: QR codes [1] Kamijo et al. ICIP. 2008. 5/3/2014 3

  4. Related work: Visual MIMO [1] Ashok et al. MobiCom. 2010. [2] Yuan et al. WACV. 2012. [3] Yuan et al. GlobalSip.2013 5/3/2014 4

  5. Other related work [1] Schmid et al. MobiHoc. 2013. [2] Perli et al. MobiCom. 2010. [3] Mondal et al. APCC. 2012. 5/3/2014 5

  6. Our work Phase Messaging Time-of-flight Array (PMA) Cameras 5/3/2014 6

  7. Time-of-Flight Cameras ToF camera sensor PMD CamBoard Nano SoftKinetic DS311 Swiss Ranger SR4050 5/3/2014 7

  8. Time-of-Flight Cameras ToF camera sensor Infrared LEDs PMD CamBoard Nano SoftKinetic DS311 Swiss Ranger SR4050 5/3/2014 8

  9. Time-of-Flight Cameras delay 𝜐 SoftKinetic DS311 phase difference depth 5/3/2014 9

  10. 5/3/2014 10

  11. System Overview Message Extracted Stream Message Stream FIFO Depth Data Image Format Receiver Transmitter Converter ToF Camera PMA Sensor of A 0 Depth Shift the ToF LED Multiplexer Recovery Register p 0 p n-1 A m-1 camera Data Processing …… Synchronized Photo Phase p LEDs of the ToF camera Amplifier Detector Shifting Light Detection Phase Modulation 5/3/2014 11

  12. Phase Messaging Array (PMA) LED Modulation Phase Data Processing Light Detection 5/3/2014 12

  13. Modulation LED Phase Data Processing Intuitive Solution Light Detection Time-of-flight LED Camera 5/3/2014 13

  14. Modulation LED Phase Data Processing Our Solution Light Detection Photo Detector LED 5/3/2014 14

  15. Modulation LED Phase Data Processing Phase Modulation Light Detection • Phase Shifting 185 o 250 o 280 o 320 o 5/3/2014 15

  16. Modulation LED Phase Data Processing Phase Modulation Light Detection • Messaging and Signal Selection 5/3/2014 16

  17. Modulation LED Phase Data Processing Phase Modulation Light Detection • Message Recovery p2 p1 p0 p3 p2 p1 p0 p3 p1 10 01 00 11 10 01 00 11 01 5/3/2014 17

  18. Experiments SoftKinetic PMA DS311 Five independent experiments 8000 random bits/experiment Average accuracy 97.8% 5/3/2014 18

  19. Experiments • Data rate analysis – 9 LEDs • One for synchronization indicator • Another 8 for messaging – 4 candidate phases => 2 bits/LED – ToF camera • 60 fps => 8x2x60 = 960bps 5/3/2014 19

  20. Applications • Dual use of cameras – Imaging (original use) – Communication (added channel) • Applications – Object recognition: ID beacon – Navigation: path marker – Robotics: line of sight communication 5/3/2014 20

  21. Conclusions • Propose a camera-display communication methodology based on a low-cost continuous- wave ToF camera • Implement Phase Messaging Array (PMA) • Demonstrate high messaging accuracy in experiments 5/3/2014 21

  22. 5/3/2014 22

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